跳变负载平面五杆机构的切换控制Switching control of planar five-bar mechanism during load transition
王霞,刘新乐,唐予军
摘要(Abstract)：
探讨平面五杆并联机构在负载跳变时的跟踪控制问题。用切换模型中的切换信号表示由负载切换带来的参数跳变,建立平面五杆并联机构的切换模型。采用多李雅普诺夫函数及平均驻留时间方法为系统设计切换滑模跟踪控制器,在负载跳变下实现渐近跟踪。利用该方法对平面五杆并联机构进行实验,结果表明,平面五杆并联机构在负载跳变下,能够保证渐近跟踪性能。
关键词(KeyWords)： 跳变负载;平面五杆机构;切换控制;平均驻留时间;滑模控制;渐近跟踪
基金项目(Foundation): 国家自然科学基金资助项目(11771115);; 河北省自然科学基金资助项目(F2015201088);; 河北大学中西部提升综合实力-高层次人才培养和引进计划项目~~
作者(Author): 王霞,刘新乐,唐予军
DOI: 10.16652/j.issn.1004-373x.2018.14.007
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